@flighthq/physics3d 0.4.0-edge.1908.751021c

package/dist/enablePhysics3DGuards.js

@@ -0,0 +1,155 @@
+import { logOnce } from '@flighthq/log/contract';
+import { LogLevel } from '@flighthq/types/contract';
+import { setPhysics3DContactIntakeGuard } from './contactIntake';
+import { explainPhysics3DCollision } from './explainPhysics3DCollision';
+import { explainPhysics3DJoints } from './explainPhysics3DJoints';
+import { explainPhysics3DStep } from './explainPhysics3DStep';
+import { setPhysics3DJointResolutionGuard } from './islands';
+import { setPhysics3DSpatialIndexingGuard } from './physics3DSpatialIndexingGuards';
+import { setPhysics3DStepGuard } from './step';
+export function arePhysics3DGuardsEnabled() {
+    return physics3DGuardsEnabled;
+}
+export function disablePhysics3DGuards() {
+    setPhysics3DStepGuard(null);
+    setPhysics3DContactIntakeGuard(null);
+    setPhysics3DJointResolutionGuard(null);
+    setPhysics3DSpatialIndexingGuard(null);
+    physics3DGuardsEnabled = false;
+}
+// Installs opt-in diagnostics for the ways a world can advance without simulating what its data appears
+// to describe, plus the broadphase cost fallback that preserves results while defeating spatial pruning.
+//
+// `stepPhysics3D` declines silently on any failed precondition, which is the right behaviour — a NaN
+// velocity is a state a caller reaches by writing a field, and throwing would take down a frame loop over
+// something inspectable. But silence and success are indistinguishable from the callsite: a world that
+// stopped simulating looks exactly like a world where nothing happens to be moving. This is the seam that
+// tells them apart, and applications that omit this module shed both the message text and
+// `@flighthq/log`.
+// The second is worse than the first and needs its own seam: a step whose preconditions all hold still
+// detects NOTHING if the 3D collision registries were never populated, because the narrow phase
+// dispatches through them. That world steps, integrates, and reports success while its bodies fall
+// through every floor.
+// The third is a stored joint omitted from the solve because its kind has no solver or an endpoint no
+// longer resolves. Deserializing ahead of registration is supported, so storing it stays silent; stepping
+// while it remains inert is the moment the opt-in guard names it.
+// The fourth is a body routed through a backend's overflow path. Collision remains correct, but every
+// broadphase query scans that body linearly, so a mixed-scale world can retain the right contacts while
+// silently shedding the pruning its index exists to provide.
+export function enablePhysics3DGuards() {
+    setPhysics3DStepGuard(warnOnUnsteppablePhysics3DWorld);
+    setPhysics3DContactIntakeGuard(warnOnUndetectablePhysics3DColliders);
+    setPhysics3DJointResolutionGuard(warnOnUnresolvedPhysics3DJoints);
+    setPhysics3DSpatialIndexingGuard(warnOnPhysics3DSpatialIndexing);
+    physics3DGuardsEnabled = true;
+}
+// Reports the broadphase fallback that preserves correctness while materially changing cost. Reading the
+// world's own backend keeps this diagnostic scoped to physics3d instead of taking ownership of spatial's
+// process-wide caller-composed guard.
+function warnOnPhysics3DSpatialIndexing(world) {
+    const overflowBodyIndices = [];
+    for (let bodyIndex = 0; bodyIndex < world.bodies.length; bodyIndex += 1) {
+        const index = world.bodies[bodyIndex].index;
+        const explanation = world.index.explainSpatialIndexing(index);
+        if (explanation.mode === 'overflow')
+            overflowBodyIndices.push(index);
+    }
+    if (overflowBodyIndices.length > 0) {
+        logOnce(`physics3d:spatial-overflow:${getPhysics3DGuardWorldId(world)}`, LogLevel.Warn, {
+            bodyIndices: overflowBodyIndices,
+            message: `synchronizePhysics3DBroadphase: ${overflowBodyIndices.length} ${overflowBodyIndices.length === 1 ? 'body is' : 'bodies are'} held in the spatial backend's overflow path, so broadphase queries scan ${overflowBodyIndices.length === 1 ? 'it' : 'them'} linearly — pass createBvhSpatialBackend3D() to createPhysics3DWorld(index) for a mixed-scale world, or tune createUniformGridSpatialBackend3D(cellSize) to the workload's typical body size.`,
+            status: 'spatial-overflow',
+        }, 'physics3d');
+    }
+}
+function getPhysics3DGuardWorldId(world) {
+    const existing = physics3DGuardWorldIds.get(world);
+    if (existing !== undefined)
+        return existing;
+    const created = nextPhysics3DGuardWorldId;
+    nextPhysics3DGuardWorldId += 1;
+    physics3DGuardWorldIds.set(world, created);
+    return created;
+}
+// Warns once per distinct set of undetectable collider kinds.
+//
+// Keyed on the kinds rather than logged per step, so a 60Hz loop says this once — and a world that later
+// gains a second unsupported kind still says so.
+function warnOnUndetectablePhysics3DColliders(world) {
+    const explanation = explainPhysics3DCollision(world);
+    if (explanation.status === 'ready')
+        return;
+    const kinds = explanation.unsupportedKinds;
+    logOnce(`physics3d:missing-support:${kinds.join(',')}`, LogLevel.Warn, {
+        kinds,
+        message: `buildPhysics3DContacts: no support function is registered for collider ${kinds.length === 1 ? 'kind' : 'kinds'} ${kinds.join(', ')}, so these generate no contacts and the bodies carrying them pass through everything — call registerBuiltInCollisionSupports3D() and registerBuiltInCollisionFaceQueries3D() from @flighthq/collision, or register your own support for a vendor kind.`,
+        status: explanation.status,
+    }, 'physics3d');
+}
+// Warns once per distinct world-list set of unresolved joints. Index belongs in the key: two joints of
+// one kind may fail independently, and repairing the first must not suppress the second's later warning.
+function warnOnUnresolvedPhysics3DJoints(world) {
+    const explanations = explainPhysics3DJoints(world);
+    const joints = [];
+    for (const explanation of explanations) {
+        if (explanation.status === 'solvable')
+            continue;
+        joints.push({ index: explanation.index, kind: explanation.kind, status: explanation.status });
+    }
+    if (joints.length === 0)
+        return;
+    const key = joints.map((joint) => `${joint.index}:${joint.kind}:${joint.status}`).join(',');
+    logOnce(`physics3d:unresolved-joints:${key}`, LogLevel.Warn, {
+        joints,
+        message: `buildPhysics3DSolveIslands: ${joints.length} ${joints.length === 1 ? 'joint was' : 'joints were'} omitted from the solve because its kind is unregistered or a body endpoint is missing — call explainPhysics3DJoints(world), then registerBuiltInPhysics3DJointSolvers(world) or registerPhysics3DJointSolver(world, kind, solver) for an unregistered kind, and removePhysics3DJoint(world, joint) or repair an invalid endpoint.`,
+        status: 'unresolved-joints',
+    }, 'physics3d');
+}
+// Warns once per distinct set of failing preconditions.
+//
+// EVERY failing flag is reported in one message rather than the first. The step's own condition
+// short-circuits, so a world with a bad timestep and a NaN velocity would otherwise surface the timestep,
+// get repaired, and reveal the next fault a frame later — one round trip per fault, which is the failure
+// the explain seam was built to avoid and would be pointless to reintroduce here.
+//
+// Keyed on the failing set, so a loop calling this at 60Hz logs once and not once per frame, while a world
+// that develops a SECOND fault after the first is repaired still says so.
+function warnOnUnsteppablePhysics3DWorld(world, dt) {
+    const explanation = explainPhysics3DStep(world, dt);
+    const failing = getFailingPhysics3DPreconditions(explanation);
+    if (failing.length === 0)
+        return;
+    logOnce(`physics3d:${explanation.status}:${failing.join(',')}`, LogLevel.Warn, {
+        failing,
+        message: `stepPhysics3D: the world advanced nothing because ${failing.length === 1 ? 'a precondition' : 'several preconditions'} failed (${failing.join(', ')}) — call explainPhysics3DStep(world, dt) for the same flags as data, and repair the reported fields.`,
+        status: explanation.status,
+    }, 'physics3d');
+}
+// The names of the flags that are false, in the explanation's own field order so the key is stable for a
+// given set of faults however they arose.
+function getFailingPhysics3DPreconditions(explanation) {
+    const failing = [];
+    for (const flag of physics3DPreconditionFlags) {
+        if (!explanation[flag])
+            failing.push(flag);
+    }
+    return failing;
+}
+// Listed rather than derived by walking the object, so `status` — which is a summary and not a
+// precondition — cannot be swept in, and so a flag added to the explanation is a deliberate addition here.
+const physics3DPreconditionFlags = [
+    'bodyStateValid',
+    'colliderStateValid',
+    'contactStateValid',
+    'gravityValid',
+    'jointStateValid',
+    'solverConfigValid',
+    'substepsValid',
+    'timestepValid',
+    'velocityIterationsValid',
+    'positionIterationsValid',
+];
+let physics3DGuardsEnabled = false;
+let nextPhysics3DGuardWorldId = 0;
+const physics3DGuardWorldIds = new WeakMap();
+//# sourceMappingURL=enablePhysics3DGuards.js.map

package/dist/enablePhysics3DGuards.js.map

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package/dist/explainPhysics3DCollision.d.ts

@@ -0,0 +1,3 @@
+import type { Physics3DCollisionExplanation, Physics3DWorld } from '@flighthq/types/contract';
+export declare function explainPhysics3DCollision(world: Readonly<Physics3DWorld>): Physics3DCollisionExplanation;
+//# sourceMappingURL=explainPhysics3DCollision.d.ts.map

package/dist/explainPhysics3DCollision.d.ts.map

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package/dist/explainPhysics3DCollision.js

@@ -0,0 +1,30 @@
+import { getCollisionSupport3D } from '@flighthq/collision/contract';
+// Reports which of a world's collider kinds the narrow phase cannot detect, as plain data.
+//
+// This answers a question a stepping world cannot: `stepPhysics3D` succeeds whether or not the collision
+// registries were populated, and an empty contact set is the correct output for a world where nothing is
+// touching AND the output for a world where nothing CAN touch. The two are indistinguishable from the
+// callsite, and the second one presents as bodies sinking through the ground for no stated reason.
+//
+// Separately importable, and consulted rather than continuous: a shipping build that never asks links
+// neither this nor the guard that phrases it.
+export function explainPhysics3DCollision(world) {
+    const unsupported = new Set();
+    for (const body of world.bodies) {
+        for (const collider of body.colliders) {
+            const kind = collider.world.kind;
+            if (kind === 'triangle-mesh' || kind === 'heightfield')
+                continue;
+            if (getCollisionSupport3D(kind) === null)
+                unsupported.add(kind);
+        }
+    }
+    // Sorted so the value is stable for a given world however its bodies were inserted, which is what lets
+    // a guard key a warning on it without re-reporting the same fault under a different order.
+    const unsupportedKinds = [...unsupported].sort();
+    return {
+        unsupportedKinds,
+        status: unsupportedKinds.length > 0 ? 'missing-support' : 'ready',
+    };
+}
+//# sourceMappingURL=explainPhysics3DCollision.js.map

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package/dist/explainPhysics3DJoints.d.ts

@@ -0,0 +1,3 @@
+import type { Physics3DJointExplanation, Physics3DWorld } from '@flighthq/types/contract';
+export declare function explainPhysics3DJoints(world: Readonly<Physics3DWorld>): Physics3DJointExplanation[];
+//# sourceMappingURL=explainPhysics3DJoints.d.ts.map

package/dist/explainPhysics3DJoints.d.ts.map

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package/dist/explainPhysics3DJoints.js

@@ -0,0 +1,32 @@
+import { findPhysics3DBody } from './world';
+// Which joints the step will actually solve, and why the others are skipped.
+//
+// The step skips a joint in TOTAL SILENCE in two cases, and they need telling apart. An unregistered kind
+// is not a fault — a scene deserialized ahead of the code that solves it is explicitly supported, and the
+// joint is meant to sit inert until someone registers its solver. A joint whose body index no longer
+// resolves is a fault, usually a joint outliving a `removePhysics3DBody` that missed it. Both look
+// identical from outside: a constraint that holds nothing.
+//
+// One entry per joint, in world-list order, so `index` is a handle back into `world.joints`. Pure — it
+// re-walks the world as it stands and retains nothing.
+export function explainPhysics3DJoints(world) {
+    const explanations = [];
+    for (let index = 0; index < world.joints.length; index += 1) {
+        const joint = world.joints[index];
+        const solver = world.jointSolvers.get(joint.kind);
+        const hasSolver = solver !== undefined;
+        // A one-body kind never reads bodyA, so a placeholder index there is not a fault. Asking the solver
+        // rather than assuming two endpoints is what keeps this honest for a kind the package does not own.
+        const bodyAResolvable = solver?.usesBodyA === false || findPhysics3DBody(world, joint.bodyA) !== null;
+        const bodiesResolvable = bodyAResolvable && findPhysics3DBody(world, joint.bodyB) !== null;
+        explanations.push({
+            kind: joint.kind,
+            index,
+            hasSolver,
+            bodiesResolvable,
+            status: !hasSolver ? 'unregistered-kind' : bodiesResolvable ? 'solvable' : 'invalid-bodies',
+        });
+    }
+    return explanations;
+}
+//# sourceMappingURL=explainPhysics3DJoints.js.map

package/dist/explainPhysics3DJoints.js.map

@@ -0,0 +1 @@
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package/dist/explainPhysics3DStep.d.ts

@@ -0,0 +1,3 @@
+import type { Physics3DStepExplanation, Physics3DWorld } from '@flighthq/types/contract';
+export declare function explainPhysics3DStep(world: Readonly<Physics3DWorld>, dt: number): Physics3DStepExplanation;
+//# sourceMappingURL=explainPhysics3DStep.d.ts.map

package/dist/explainPhysics3DStep.d.ts.map

@@ -0,0 +1 @@
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package/dist/explainPhysics3DStep.js

@@ -0,0 +1,51 @@
+import { isPhysics3DBodyStateValid, isPhysics3DColliderStateValid, isPhysics3DContactStateValid, isPhysics3DGravityValid, isPhysics3DJointStateValid, isPhysics3DPositionIterationsValid, isPhysics3DSolverConfigValid, isPhysics3DSubstepsValid, isPhysics3DTimestepValid, isPhysics3DVelocityIterationsValid, } from './stepValidation';
+// Why `stepPhysics3D(world, dt)` would advance nothing, as plain data.
+//
+// The step declines silently on any failed precondition, because a NaN velocity or a zero timestep is a
+// state a caller reaches by writing a field and not a reason to take down a frame loop. This is the seam
+// that makes that silence readable, and it is separately importable so a shipping build that never asks
+// never links it.
+//
+// It asks the SAME predicates the step asks, in the same order, so the two cannot disagree about what
+// "steppable" means. Every flag is reported rather than short-circuiting at the first false: a world with
+// two faults would otherwise be repaired one frame at a time, each fix revealing the next.
+//
+// Pure — it reads the world as it stands and retains nothing. Calling it never changes whether the next
+// step runs.
+export function explainPhysics3DStep(world, dt) {
+    const config = world.config;
+    const bodyStateValid = isPhysics3DBodyStateValid(world);
+    const colliderStateValid = isPhysics3DColliderStateValid(world);
+    const contactStateValid = isPhysics3DContactStateValid(world);
+    const gravityValid = isPhysics3DGravityValid(world);
+    const jointStateValid = isPhysics3DJointStateValid(world);
+    const solverConfigValid = isPhysics3DSolverConfigValid(config);
+    const substepsValid = isPhysics3DSubstepsValid(config);
+    const timestepValid = isPhysics3DTimestepValid(dt);
+    const velocityIterationsValid = isPhysics3DVelocityIterationsValid(config);
+    const positionIterationsValid = isPhysics3DPositionIterationsValid(config);
+    const ready = bodyStateValid &&
+        colliderStateValid &&
+        contactStateValid &&
+        gravityValid &&
+        jointStateValid &&
+        solverConfigValid &&
+        substepsValid &&
+        timestepValid &&
+        velocityIterationsValid &&
+        positionIterationsValid;
+    return {
+        bodyStateValid,
+        colliderStateValid,
+        contactStateValid,
+        gravityValid,
+        jointStateValid,
+        solverConfigValid,
+        substepsValid,
+        timestepValid,
+        velocityIterationsValid,
+        positionIterationsValid,
+        status: ready ? 'ready' : 'invalid-step',
+    };
+}
+//# sourceMappingURL=explainPhysics3DStep.js.map

package/dist/explainPhysics3DStep.js.map

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package/dist/index.d.ts

@@ -0,0 +1,22 @@
+export { clearRigidBody3DForces, integrateRigidBody3DPose, integrateRigidBody3DVelocity, refreshRigidBody3DWorldInertia, } from './integrate';
+export { createPhysics3DContact, createPhysics3DContactPoint } from './contacts';
+export { explainPhysics3DCollision } from './explainPhysics3DCollision';
+export { explainPhysics3DJoints } from './explainPhysics3DJoints';
+export { arePhysics3DGuardsEnabled, disablePhysics3DGuards, enablePhysics3DGuards } from './enablePhysics3DGuards';
+export { explainPhysics3DStep } from './explainPhysics3DStep';
+export { isPhysics3DPairJointSuppressed } from './jointCollisionSuppression';
+export { createPhysics3DBallAndSocketJoint, createPhysics3DConeTwistJoint, createPhysics3DDistanceJoint, createPhysics3DFixedJoint, createPhysics3DGeneric6DofJoint, createPhysics3DHingeJoint, createPhysics3DSliderJoint, } from './jointFactories';
+export { addPhysics3DJoint, getPhysics3DJointSolver, invalidatePhysics3DJoint, registerPhysics3DJointSolver, removePhysics3DJoint, } from './jointRegistry';
+export { physics3DBallAndSocketJointSolver, physics3DConeTwistJointSolver, physics3DDistanceJointSolver, physics3DFixedJointSolver, physics3DGeneric6DofJointSolver, physics3DHingeJointSolver, physics3DSliderJointSolver, Physics3DBallAndSocketJointKind, Physics3DConeTwistJointKind, Physics3DDistanceJointKind, Physics3DFixedJointKind, Physics3DGeneric6DofJointKind, Physics3DHingeJointKind, Physics3DSliderJointKind, } from './joints';
+export { combinePhysics3DMassData, computePhysics3DBoxMassData, computePhysics3DCapsuleMassData, computePhysics3DConeMassData, computePhysics3DCylinderMassData, computePhysics3DColliderMassData, computePhysics3DConvexHullMassData, computePhysics3DSphereMassData, createPhysics3DMassData, setRigidBody3DMassData, updateRigidBody3DMassData, } from './massProperties';
+export { mixPhysics3DFriction, mixPhysics3DRestitution } from './material';
+export { syncPhysics3DBodyToNode3D } from './nodeSync';
+export { registerBuiltInPhysics3DJointSolvers } from './registerBuiltInPhysics3DJointSolvers';
+export { stepPhysics3D, stepPhysics3DInterval } from './step';
+export { addPhysics3DBody, addPhysics3DCollider, applyPhysics3DForce, applyPhysics3DForceAtPoint, applyPhysics3DLinearImpulse, applyPhysics3DLinearImpulseAtPoint, applyPhysics3DTorque, createPhysics3DCollider, createPhysics3DSequentialImpulseConfig, createPhysics3DSolverConfig, createPhysics3DWorld, createRigidBody3D, findPhysics3DBody, hydratePhysics3DWorld, invalidatePhysics3DCollider, Physics3DWorldVersion, removePhysics3DBody, removePhysics3DCollider, setPhysics3DBodyBullet, setPhysics3DBodyFixedRotation, setPhysics3DBodySleepEnabled, setPhysics3DBodyTransform, setPhysics3DBodyType, wakePhysics3DBody, writeRigidBody3DWorldCenter, } from './world';
+export { createPhysics3DQueryFilter, createPhysics3DQueryResult, createPhysics3DRayResult, createPhysics3DShapeCastResult, queryPhysics3DPoint, queryPhysics3DRay, queryPhysics3DRayClosest, queryPhysics3DRegion, queryPhysics3DShapeCast, } from './worldQueries';
+export { createPhysics3DDebugGeometry, writePhysics3DDebugGeometry } from './debugGeometry';
+export { hasActivePhysics3DBullet, integratePhysics3DContinuous, writePhysics3DRotationalCcdEnvelope, } from './continuous';
+export { breakPhysics3DJoint, evaluatePhysics3DJointBreakage, isPhysics3DJointBreakable } from './jointBreakage';
+export { accumulatePhysics3DJointRowReaction, clearPhysics3DJointReaction, createPhysics3DJointReaction, getPhysics3DJointReactionForce, getPhysics3DJointReactionTorque, writePhysics3DJointReaction, } from './jointReaction';
+//# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

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package/dist/index.js

@@ -0,0 +1,22 @@
+export { clearRigidBody3DForces, integrateRigidBody3DPose, integrateRigidBody3DVelocity, refreshRigidBody3DWorldInertia, } from './integrate';
+export { createPhysics3DContact, createPhysics3DContactPoint } from './contacts';
+export { explainPhysics3DCollision } from './explainPhysics3DCollision';
+export { explainPhysics3DJoints } from './explainPhysics3DJoints';
+export { arePhysics3DGuardsEnabled, disablePhysics3DGuards, enablePhysics3DGuards } from './enablePhysics3DGuards';
+export { explainPhysics3DStep } from './explainPhysics3DStep';
+export { isPhysics3DPairJointSuppressed } from './jointCollisionSuppression';
+export { createPhysics3DBallAndSocketJoint, createPhysics3DConeTwistJoint, createPhysics3DDistanceJoint, createPhysics3DFixedJoint, createPhysics3DGeneric6DofJoint, createPhysics3DHingeJoint, createPhysics3DSliderJoint, } from './jointFactories';
+export { addPhysics3DJoint, getPhysics3DJointSolver, invalidatePhysics3DJoint, registerPhysics3DJointSolver, removePhysics3DJoint, } from './jointRegistry';
+export { physics3DBallAndSocketJointSolver, physics3DConeTwistJointSolver, physics3DDistanceJointSolver, physics3DFixedJointSolver, physics3DGeneric6DofJointSolver, physics3DHingeJointSolver, physics3DSliderJointSolver, Physics3DBallAndSocketJointKind, Physics3DConeTwistJointKind, Physics3DDistanceJointKind, Physics3DFixedJointKind, Physics3DGeneric6DofJointKind, Physics3DHingeJointKind, Physics3DSliderJointKind, } from './joints';
+export { combinePhysics3DMassData, computePhysics3DBoxMassData, computePhysics3DCapsuleMassData, computePhysics3DConeMassData, computePhysics3DCylinderMassData, computePhysics3DColliderMassData, computePhysics3DConvexHullMassData, computePhysics3DSphereMassData, createPhysics3DMassData, setRigidBody3DMassData, updateRigidBody3DMassData, } from './massProperties';
+export { mixPhysics3DFriction, mixPhysics3DRestitution } from './material';
+export { syncPhysics3DBodyToNode3D } from './nodeSync';
+export { registerBuiltInPhysics3DJointSolvers } from './registerBuiltInPhysics3DJointSolvers';
+export { stepPhysics3D, stepPhysics3DInterval } from './step';
+export { addPhysics3DBody, addPhysics3DCollider, applyPhysics3DForce, applyPhysics3DForceAtPoint, applyPhysics3DLinearImpulse, applyPhysics3DLinearImpulseAtPoint, applyPhysics3DTorque, createPhysics3DCollider, createPhysics3DSequentialImpulseConfig, createPhysics3DSolverConfig, createPhysics3DWorld, createRigidBody3D, findPhysics3DBody, hydratePhysics3DWorld, invalidatePhysics3DCollider, Physics3DWorldVersion, removePhysics3DBody, removePhysics3DCollider, setPhysics3DBodyBullet, setPhysics3DBodyFixedRotation, setPhysics3DBodySleepEnabled, setPhysics3DBodyTransform, setPhysics3DBodyType, wakePhysics3DBody, writeRigidBody3DWorldCenter, } from './world';
+export { createPhysics3DQueryFilter, createPhysics3DQueryResult, createPhysics3DRayResult, createPhysics3DShapeCastResult, queryPhysics3DPoint, queryPhysics3DRay, queryPhysics3DRayClosest, queryPhysics3DRegion, queryPhysics3DShapeCast, } from './worldQueries';
+export { createPhysics3DDebugGeometry, writePhysics3DDebugGeometry } from './debugGeometry';
+export { hasActivePhysics3DBullet, integratePhysics3DContinuous, writePhysics3DRotationalCcdEnvelope, } from './continuous';
+export { breakPhysics3DJoint, evaluatePhysics3DJointBreakage, isPhysics3DJointBreakable } from './jointBreakage';
+export { accumulatePhysics3DJointRowReaction, clearPhysics3DJointReaction, createPhysics3DJointReaction, getPhysics3DJointReactionForce, getPhysics3DJointReactionTorque, writePhysics3DJointReaction, } from './jointReaction';
+//# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -0,0 +1 @@
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package/dist/integrate.d.ts

@@ -0,0 +1,6 @@
+import type { RigidBody3D } from '@flighthq/types/contract';
+export declare function clearRigidBody3DForces(body: RigidBody3D): void;
+export declare function integrateRigidBody3DPose(body: RigidBody3D, dt: number): void;
+export declare function integrateRigidBody3DVelocity(body: RigidBody3D, gravityX: number, gravityY: number, gravityZ: number, dt: number): void;
+export declare function refreshRigidBody3DWorldInertia(body: RigidBody3D): void;
+//# sourceMappingURL=integrate.d.ts.map

package/dist/integrate.d.ts.map

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package/dist/integrate.js

@@ -0,0 +1,184 @@
+import { applySymmetricTensor, rotateSymmetricTensor, TENSOR_XX, TENSOR_XY, TENSOR_XZ, TENSOR_YY, TENSOR_YZ, TENSOR_ZZ, } from './symmetricTensor';
+// Integration: turning forces into velocities and velocities into poses.
+//
+// The scheme is semi-implicit (symplectic) Euler — velocity is advanced first and the NEW velocity
+// moves the pose. The ordering is the whole reason it is stable enough for games: explicit Euler, which
+// moves the pose by the old velocity, injects energy on every step and makes an orbit spiral outward.
+//
+// These are exported separately rather than folded into the step because a caller assembling its own
+// step wants exactly these pieces, and because each is independently testable — which matters most for
+// the angular half, whose failure mode is a slow drift no single-step assertion would catch.
+// Clears the force and torque accumulators. Called by the step once the forces have been integrated, so
+// a caller applying a force each frame does not have it applied twice.
+export function clearRigidBody3DForces(body) {
+    body.forceX = 0;
+    body.forceY = 0;
+    body.forceZ = 0;
+    body.torqueX = 0;
+    body.torqueY = 0;
+    body.torqueZ = 0;
+}
+// Advances a body's pose by its current velocity over `dt`.
+//
+// The CENTRE OF MASS takes the straight Euler step because that is where `velocity` is measured. The
+// stored position is the body's authored origin, which may be offset from that centre: after rotation it
+// is shifted by oldRotatedCentre - newRotatedCentre so pure angular motion cannot make the centre orbit.
+//
+// Orientation is advanced by the quaternion derivative `0.5 * omega * q`, where omega is the angular
+// velocity as a pure quaternion. That step leaves the unit sphere — it is a tangent move on a curved
+// manifold — so the result is renormalized. Skipping the renormalization does not look wrong for a step
+// or a hundred; it accumulates into a quaternion whose rotation matrix is no longer orthonormal, which
+// reads downstream as a body that is subtly sheared and getting worse.
+export function integrateRigidBody3DPose(body, dt) {
+    if (body.type === 'static' || body.sleeping)
+        return;
+    body.x += body.velocityX * dt;
+    body.y += body.velocityY * dt;
+    body.z += body.velocityZ * dt;
+    const wX = body.angularVelocityX;
+    const wY = body.angularVelocityY;
+    const wZ = body.angularVelocityZ;
+    if (wX === 0 && wY === 0 && wZ === 0)
+        return;
+    const qX = body.orientationX;
+    const qY = body.orientationY;
+    const qZ = body.orientationZ;
+    const qW = body.orientationW;
+    const centerX = body.centerX;
+    const centerY = body.centerY;
+    const centerZ = body.centerZ;
+    const offset = centerX !== 0 || centerY !== 0 || centerZ !== 0;
+    let oldCenterX = 0;
+    let oldCenterY = 0;
+    let oldCenterZ = 0;
+    if (offset) {
+        const tX = 2 * (qY * centerZ - qZ * centerY);
+        const tY = 2 * (qZ * centerX - qX * centerZ);
+        const tZ = 2 * (qX * centerY - qY * centerX);
+        oldCenterX = centerX + qW * tX + qY * tZ - qZ * tY;
+        oldCenterY = centerY + qW * tY + qZ * tX - qX * tZ;
+        oldCenterZ = centerZ + qW * tZ + qX * tY - qY * tX;
+    }
+    const half = dt * 0.5;
+    const nX = qX + half * (wX * qW + wY * qZ - wZ * qY);
+    const nY = qY + half * (wY * qW + wZ * qX - wX * qZ);
+    const nZ = qZ + half * (wZ * qW + wX * qY - wY * qX);
+    const nW = qW + half * (-wX * qX - wY * qY - wZ * qZ);
+    const lengthSquared = nX * nX + nY * nY + nZ * nZ + nW * nW;
+    if (lengthSquared <= 0 || !Number.isFinite(lengthSquared)) {
+        // The only way here is a non-finite angular velocity, which a diverging simulation produces. Hold
+        // the previous orientation rather than writing NaN into it: a NaN pose spreads to every constraint
+        // the body touches within one step, and a held orientation is at least a state a caller can see.
+        return;
+    }
+    const scale = 1 / Math.sqrt(lengthSquared);
+    const nextX = nX * scale;
+    const nextY = nY * scale;
+    const nextZ = nZ * scale;
+    const nextW = nW * scale;
+    if (offset) {
+        const tX = 2 * (nextY * centerZ - nextZ * centerY);
+        const tY = 2 * (nextZ * centerX - nextX * centerZ);
+        const tZ = 2 * (nextX * centerY - nextY * centerX);
+        body.x += oldCenterX - (centerX + nextW * tX + nextY * tZ - nextZ * tY);
+        body.y += oldCenterY - (centerY + nextW * tY + nextZ * tX - nextX * tZ);
+        body.z += oldCenterZ - (centerZ + nextW * tZ + nextX * tY - nextY * tX);
+    }
+    body.orientationX = nextX;
+    body.orientationY = nextY;
+    body.orientationZ = nextZ;
+    body.orientationW = nextW;
+}
+// Advances a body's velocities by the accumulated forces, gravity, and damping over `dt`.
+//
+// The angular half carries the term that does not exist in 2D: Euler's equation for a rotating rigid
+// body is `torque = I * alpha + omega x (I * omega)`, and that second term — the gyroscopic torque — is
+// what makes a thrown object tumble rather than spin about a fixed axis. In 2D it vanishes identically,
+// because omega and `I * omega` are parallel when I is a scalar. Dropping it in 3D costs nothing on a
+// sphere and is visibly wrong on anything long.
+//
+// Damping is applied as an exponential decay rather than a subtraction, so the result does not depend
+// on the step size and a large `dt` can never drive a velocity through zero into reverse.
+export function integrateRigidBody3DVelocity(body, gravityX, gravityY, gravityZ, dt) {
+    if (body.type !== 'dynamic' || body.sleeping)
+        return;
+    body.velocityX += (body.forceX * body.inverseMass + gravityX * body.gravityScale) * dt;
+    body.velocityY += (body.forceY * body.inverseMass + gravityY * body.gravityScale) * dt;
+    body.velocityZ += (body.forceZ * body.inverseMass + gravityZ * body.gravityScale) * dt;
+    const wX = body.angularVelocityX;
+    const wY = body.angularVelocityY;
+    const wZ = body.angularVelocityZ;
+    // The gyroscopic torque, `-omega x (I * omega)`. It needs the FORWARD world inertia, which is why the
+    // body stores its forward local tensor: rotating that into world space is one similarity transform,
+    // where recovering it from the inverse would be a 3x3 inversion per body per substep.
+    //
+    // Explicit here, which is the standard game-engine treatment and is stable at ordinary timesteps. A
+    // body spinning fast enough that its momentum turns appreciably within one step needs an implicit
+    // form; the substep count is the lever for that, and is why it exists.
+    let torqueX = body.torqueX;
+    let torqueY = body.torqueY;
+    let torqueZ = body.torqueZ;
+    if (wX !== 0 || wY !== 0 || wZ !== 0) {
+        scratchTensor[TENSOR_XX] = body.inertiaXX;
+        scratchTensor[TENSOR_YY] = body.inertiaYY;
+        scratchTensor[TENSOR_ZZ] = body.inertiaZZ;
+        scratchTensor[TENSOR_XY] = body.inertiaXY;
+        scratchTensor[TENSOR_XZ] = body.inertiaXZ;
+        scratchTensor[TENSOR_YZ] = body.inertiaYZ;
+        rotateSymmetricTensor(scratchTensor, body.orientationX, body.orientationY, body.orientationZ, body.orientationW, scratchTensor);
+        // scratchVector becomes the angular momentum `L = I * omega`.
+        applySymmetricTensor(scratchTensor, wX, wY, wZ, scratchVector);
+        torqueX -= wY * scratchVector[2] - wZ * scratchVector[1];
+        torqueY -= wZ * scratchVector[0] - wX * scratchVector[2];
+        torqueZ -= wX * scratchVector[1] - wY * scratchVector[0];
+    }
+    readWorldInertia(body, scratchTensor);
+    applySymmetricTensor(scratchTensor, torqueX, torqueY, torqueZ, scratchVector);
+    body.angularVelocityX = wX + scratchVector[0] * dt;
+    body.angularVelocityY = wY + scratchVector[1] * dt;
+    body.angularVelocityZ = wZ + scratchVector[2] * dt;
+    if (body.linearDamping > 0) {
+        const damping = 1 / (1 + dt * body.linearDamping);
+        body.velocityX *= damping;
+        body.velocityY *= damping;
+        body.velocityZ *= damping;
+    }
+    if (body.angularDamping > 0) {
+        const damping = 1 / (1 + dt * body.angularDamping);
+        body.angularVelocityX *= damping;
+        body.angularVelocityY *= damping;
+        body.angularVelocityZ *= damping;
+    }
+}
+// Refreshes the world-space inverse inertia tensor from the body's orientation and its local tensor.
+//
+// Must run whenever the orientation changes — which is every substep for anything rotating, and at
+// insertion and teleport for everything else. It is a pull rather than an invalidation flag because
+// every rotating body needs it every substep anyway, so a flag would be checked far more often than it
+// would ever be false.
+export function refreshRigidBody3DWorldInertia(body) {
+    scratchTensor[TENSOR_XX] = body.inverseInertiaXX;
+    scratchTensor[TENSOR_YY] = body.inverseInertiaYY;
+    scratchTensor[TENSOR_ZZ] = body.inverseInertiaZZ;
+    scratchTensor[TENSOR_XY] = body.inverseInertiaXY;
+    scratchTensor[TENSOR_XZ] = body.inverseInertiaXZ;
+    scratchTensor[TENSOR_YZ] = body.inverseInertiaYZ;
+    rotateSymmetricTensor(scratchTensor, body.orientationX, body.orientationY, body.orientationZ, body.orientationW, scratchTensor);
+    body.inverseInertiaWorldXX = scratchTensor[TENSOR_XX];
+    body.inverseInertiaWorldYY = scratchTensor[TENSOR_YY];
+    body.inverseInertiaWorldZZ = scratchTensor[TENSOR_ZZ];
+    body.inverseInertiaWorldXY = scratchTensor[TENSOR_XY];
+    body.inverseInertiaWorldXZ = scratchTensor[TENSOR_XZ];
+    body.inverseInertiaWorldYZ = scratchTensor[TENSOR_YZ];
+}
+function readWorldInertia(body, out) {
+    out[TENSOR_XX] = body.inverseInertiaWorldXX;
+    out[TENSOR_YY] = body.inverseInertiaWorldYY;
+    out[TENSOR_ZZ] = body.inverseInertiaWorldZZ;
+    out[TENSOR_XY] = body.inverseInertiaWorldXY;
+    out[TENSOR_XZ] = body.inverseInertiaWorldXZ;
+    out[TENSOR_YZ] = body.inverseInertiaWorldYZ;
+}
+const scratchTensor = [0, 0, 0, 0, 0, 0];
+const scratchVector = [0, 0, 0];
+//# sourceMappingURL=integrate.js.map

package/dist/integrate.js.map

@@ -0,0 +1 @@
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package/dist/islands.d.ts

@@ -0,0 +1,6 @@
+import type { Physics3DJointResolutionGuard, Physics3DWorld, RigidBody3D } from '@flighthq/types/contract';
+export declare function buildPhysics3DSolveIslands(world: Physics3DWorld): void;
+export declare function isRigidBody3DPairAwake(a: Readonly<RigidBody3D>, b: Readonly<RigidBody3D>): boolean;
+export declare function setPhysics3DJointResolutionGuard(guard: Physics3DJointResolutionGuard | null): void;
+export declare function updatePhysics3DSleep(world: Physics3DWorld, dt: number): void;
+//# sourceMappingURL=islands.d.ts.map

package/dist/islands.d.ts.map

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